オートチューニングファジィフィルタによる加速度コントローラの構成法

抄録

It has been reported that the acceleration control method realizes a fine and fast motion control. The acceleration control method has an ability to suppress the effects of dynamical nonlinearities rapidly. Moreover, the acceleration control method has an accurate output response for each motion reference. However, when the conventional acceleration control system is designed, it is often difficult to define both its nominal parameters and its frequency characteristics systematically.
This paper proposes the new model following acceleration control system using the auto-tuning fuzzy filter. The structure of the proposed system has no nominal mechanical parameter of actuator. Its frequency characteristics is determined by the auto-tuning fuzzy filter. This fuzzy filter is constructed by the new auto-tuning algorithm based on the simplex design method. Therefore, the proposed acceleration control system is designed automatically, and it realizes a fine motion control easily.